US10675756B2 - Device and method for performing open-loop and closed-loop control of a robot manipulator - Google Patents

Device and method for performing open-loop and closed-loop control of a robot manipulator Download PDF

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US10675756B2
US10675756B2 US15/548,377 US201615548377A US10675756B2 US 10675756 B2 US10675756 B2 US 10675756B2 US 201615548377 A US201615548377 A US 201615548377A US 10675756 B2 US10675756 B2 US 10675756B2
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controller
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end effector
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US20180029228A1 (en
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Sami Haddadin
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Kastanienbaum GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39343—Force based impedance control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39346—Workspace impedance control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39347—Joint space impedance control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39348—Generalized impedance control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39467—Select hand as function of geometric form of hand
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement

Definitions

  • robot manipulators can exceed humans in the performance of handling tasks with respect to repeatable speed and precision. With respect to sensitive exertion of force and compliancy, humans, however, are still superior to a robot manipulator regarding tasks, which primarily becomes apparent in real applications, which require objects to be sensitively manipulated or assembled. The latter requires a complex coordination of contact forces and sequence of movements.
  • Impedance control of robot manipulators is known in this context.
  • the concept of impedance control of robot manipulators aims at imitating human behavior by active control of a robot manipulator, e.g., based on an externally animated mass spring damper model.
  • an intended compliancy of robot manipulators can be generated either by active control, by inserting compliant components into the robot manipulator or a combination of both. It is further known that it is not possible to create an arbitrary Cartesian compliancy solely by uncoupled elastic joints (Albu-Schäffer, Fischer, Schreiber, Schoeppe, & Hirzinger, 2004), so that a passive compliancy of a robot manipulator always requires to be combined with an active control to avoid the problem. In doing so, inaccuracies in the object model/surface model can be avoided, defined powers can be exerted onto the environment, and/or objects can be manipulated.
  • An active interaction control can be divided into “direct” and “indirect” force control (Villani & De Schutter, 2008). Recently, such force controllers having variations of the virtual position were introduced (Lutscher & Cheng, 2014 and Lee & Huang, 2010). Furthermore known is a power, position and/or impedance control under predetermined mandatory conditions in different spaces (Borghesan & De Schutter, 2014).
  • a purely impedance controlled robot manipulator generates the desired forces either based on a pure feed forward control or based on a respective displacement of a virtually desired position of an effector of the robot manipulator. Therefore, this controller class does not explicitly take into consideration external forces, which, however, is required if a predetermined force/torque of an effector of the robot manipulator is to be exerted onto an environment/object/work piece etc. with sufficient accuracy. Furthermore, the environment is required to be modelled with sufficient accuracy regarding its geometry and compliancy properties for this controller approach to work. This, however, contradicts the fundamental idea of impedance control to work in an unmodeled environment.
  • a force control of a robot manipulator presents the basics to exchange external forces sufficiently enough with the environment and thus facilitates an exact manipulation of objects or the surfaces thereof. Such ability is an essential necessity in industrial applications of robot manipulators. Thus, the rather imprecise impedance control is no alternative for force control.
  • These problems have caused diverse approaches of the so-called hybrid position force control (Raibert & Craig, 1981). These hybrid position force controls are based on the idea to partition a so-called “task space” into complementary force and position spaces so that force or torque and movement can be exerted and controlled in their separate spaces.
  • a disadvantage of known hybrid force controls is that they have very low robustness with respect to loss of contact of the robot manipulator with an environment. Furthermore, an environment is required to be exactly modelled in this case, as well, to secure good control performance, which, however, seldom exists with sufficient quality.
  • It is the object of the invention to specify a device and a method for performing open-loop closed-loop control of a robot manipulator having an end effector, driven by a number M of actuators ACT m , where m 1, 2, . . . , M, which avoid the above mentioned disadvantages to a large extent. In particular, large movements of the robot manipulator after loss of contact by the end effector with an object can be avoided.
  • actuators is to be understood broadly. It includes, e.g., electric motors, linear motors, multiphase motors, Piezo actuators, etc.
  • the sensor system advantageously includes one or more force sensors and/or torque sensors.
  • the estimator advantageously includes a processor to run a program that estimates the external force wrench ⁇ right arrow over (F) ⁇ ext (t).
  • the suggested device includes a controller connected with the first unit and the actuators ACT m .
  • the controller includes a first controller R 1 , which is a force controller, and a second controller R 2 connected thereto.
  • the second controller R 2 is an impedance controller, an admittance controller, a position controller, a cruise controller, or a combination thereof.
  • the desired force wrench ⁇ right arrow over (F) ⁇ D (t) is pre
  • v *( t ) [ v 1 *( t ), v 2 *( t ), . . . , V Q *( t )] (3b) v ⁇ [ v a ,v e ] (4a) v 1 *( t ) ⁇ [ v 1a ,v 1e ], v 2 *( t ) ⁇ [ v 2a ,v 2e ], . . .
  • an environment e.g., surface of an object
  • the “shaping” effect can also be achieved in another alternative, in which actuating variables u m,R1 (t) are determined as a Q-dimensional function S*(v(t), u m,R1 (t)*).
  • “shaping” effects according to the invention are achieved for all those configurations of the force controller, which cannot be represented mathematically as a product of variables u m,R1 (t)* and monotonically decreasing function S(v(t)).
  • individual components of a PID controller can have different, respectively monotonically decreasing shaping function S* 1 (v* 1 (t)), S* 2 (v* 2 (t)), . . . .
  • a further development of the proposed device is characterized in that—in case that the object with which the end effector is in contact and onto surface of which it exerts the desired force wrench ⁇ right arrow over (F) ⁇ D (t) is elastic and its surface is flexible—the controller takes into consideration predefined elasticity properties of the object when determining the actuating variables u m (t).
  • a further development of the proposed device is characterized in that a second unit is present, which serves as energy storage for passivation of the controller and stores energy T 1 coming from the controller according to a predefined energy storage dynamic and delivers energy T 2 to the controller, wherein the second unit and the controller form a closed loop, and an initialization of the unit with energy T 0 depends on a determined or predefined expenditure of energy E Expenditure to perform a current task of the robot manipulator.
  • energy E stored by the second unit can be a virtual or a physical energy. In the first case, the virtual energy is only an operand.
  • the energy is a physical energy (e.g., electrical energy), wherein the second unit includes a corresponding physical energy storage (e.g., a battery).
  • a physical energy e.g., electrical energy
  • the second unit includes a corresponding physical energy storage (e.g., a battery).
  • the second case of the further development facilitates not only an improved, i.e., passivated open-loop and closed-loop control of the robot manipulator, but also simultaneously a decrease of the expenditure of energy during operation of the robot manipulator.
  • An upper energy limit G 1 is defined advantageously for the above further development, wherein the second unit is embodied and configured such that: E ⁇ G 1 is always true for the energy E stored in the second unit. Furthermore advantageously defined is a lower energy limit G 2 , with: 0 ⁇ G 2 ⁇ G 1 , and the second unit is embodied such that, if: G 2 ⁇ E ⁇ G 1 is true for the energy E stored in the second energy unit, the second unit is coupled to the controller, and if E ⁇ G 2 is true, the second unit is uncoupled from the controller.
  • v *( t ) [ v 1 *( t ), v 2 *( t ), . . . , V Q *( t )] (3b) v ⁇ [ v a ,v e ] (4a) v 1 *( t ) ⁇ [ v 1a ,v 1e ], v 2 *( t ) ⁇ [ v 2a ,v 2e ], . . .
  • predefined elasticity properties of the object will be taken into consideration for the method by the controller during the determination of the actuating variables u m (t), in case that the object is elastic and thus its surface is flexible.
  • a second unit exists, which serves as energy storage for passivation of the controller, and which stores energy T 1 coming from the controller and delivers energy 12 to the controller according to predefined energy storage dynamics, wherein the second unit and the controller form a closed loop and an initialization of the unit with an energy T 0 depends on a determined or predefined expenditure of energy E Expenditure for implementation of a current task of the robot manipulator.
  • a further aspect of the invention relates to a computer system having a data processing device, wherein the data processing device is designed such that a method as explained above is run on the data processing device.
  • a further aspect of the invention relates to a digital storage medium having electronically readable control signals, wherein the control signals can interact with a programmable computer system such that a method as explained above is run.
  • a further aspect of the invention relates to a computer program product having program code which is stored on a machine-readable carrier for implementation of the method as explained above if the program code is run on a data processing device.
  • a further aspect of the invention relates to a computer program having program codes to implement the method, as explained above, if the program runs on a data processing device.
  • the data processing device can be designed as any computer system known in the art.
  • the suggested device and the suggested method for performing open-loop and closed-loop control of a robot manipulator having an end effector, driven by a number M of actuators ACT m , where m 1, 2, . . . , M is therefore based on a robust, passive-based approach by combination of force control with impedance control (cf. FIG. 1 ) and with energy tanks.
  • the invention facilitates acceptance of arbitrary passive environments and thus has no necessity for variations of the virtually desired position, which have a rather non-robust behavior.
  • the invention allows for a robust, compliant, and stable manipulation of an environment by a robot manipulator without having to choose between force or impedance control.
  • the control input of the system is the motor torque ⁇ m ⁇ R n , where ⁇ ext ⁇ R n includes all externally engraved torques. In doing so, friction is neglected to simplify the illustration.
  • Equation (8) couples equations (6) and (7) by the joint torque ⁇ J ⁇ R n , which is assumed as linear spring torque. This can be readily expanded to non-linear joint springs by a person skilled in the art. In doing so, the damping in the joints can be neglected since the expansion is trivial and is therefore not taken into consideration, herein.
  • the matrices K ⁇ R n ⁇ n and B ⁇ R n ⁇ n are both constant, positive defined diagonal matrices, which each describe the stiffness of the joints and inertia of the motor. The output side and driving end dynamics are not taken into consideration, herein, either.
  • q ( ⁇ ) can be used as estimator for q.
  • the controller design is based on a Cartesian force controller.
  • ⁇ mf J T ( q )(( K p ⁇ I )( F ext ( t ) ⁇ F d ( t ))+ K d ( ⁇ dot over (F) ⁇ ext ( t ) ⁇ ⁇ dot over (F) ⁇ d ( t ))+ K i ⁇ B t F ext ( t ) ⁇ F d ( t ) d ⁇ ) (11) where K d ⁇ R 6 ⁇ 6 and K i ⁇ R 6 ⁇ 6 are each diagonal, positive definite matrices for the differential and integral ratio of the controller.
  • I ⁇ R 6 ⁇ 6 describes the identity matrix, and the matrix K p ⁇ R 6 ⁇ 6 is selected such that K p ⁇ I is also diagonal and positive definite.
  • ⁇ m ⁇ J T ( q )(( K p ⁇ I )( F ext ( t ) ⁇ F d ( t )+ K d ( ⁇ dot over (F) ⁇ ext ( t ) ⁇ ⁇ dot over (F) ⁇ d ( t ))+ K i h i +K x ⁇ tilde over (x) ⁇ ( ⁇ dot over (q) ⁇ ( ⁇ ))+ D x ⁇ dot over (x) ⁇ ).
  • ⁇ m ⁇ J T ( q )( ⁇ K d ( ⁇ dot over (F) ⁇ d ( t ) ⁇ ⁇ dot over (F) ⁇ ext ( t )) ⁇ x t +K x ⁇ tilde over (x) ⁇ ( q ( ⁇ ))+ D x ⁇ dot over (x) ⁇ ), (13) where x t is the condition of the energy tank, and ⁇ is defined by
  • the dynamics of the energy tank can be described by:
  • x . t ⁇ x t ⁇ ( x . T ⁇ D x ⁇ x . + ⁇ ⁇ x . T ⁇ K d ⁇ ( F . d ⁇ ( t ) - F . ext ⁇ ( t ) ) ) + u t . ( 15 )
  • the input of the energy tank is described herein as u t .
  • the binary scalars ⁇ , ⁇ , ⁇ always guarantee the stability of the entire system.
  • E T ⁇ 0 t ⁇ 1 2 ⁇ ( p W ⁇ ( ⁇ ) - p W , 0 ) T ⁇ ⁇ K w , t ⁇ ( p W ⁇ ( ⁇ ) - p W , 0 ) ⁇ ⁇ d ⁇ ⁇ ⁇ . ( 16 )
  • the task energy is initialized accordingly.
  • the controller is simply deactivated as soon as contact is no longer detected between the end effector and the environment/the object. This, however, causes an undesired switching behavior based on, e.g., sensor noise.
  • ⁇ ( ⁇ ) ( ⁇ t ( ⁇ ), ⁇ t ( ⁇ ), ⁇ t ( ⁇ ), ⁇ r ( ⁇ ), ⁇ r ( ⁇ ), ⁇ r ( ⁇ )) T and consists of a translational and a rotational ratio, each defined as:
  • ⁇ t ⁇ ( ⁇ ) ⁇ 1 falls ⁇ ⁇ f d ⁇ T ⁇ ⁇ ⁇ ⁇ p ⁇ 0 1 2 ⁇ [ 1 + cos ⁇ ⁇ ( ⁇ - ⁇ ⁇ ⁇ ⁇ p ⁇ d max ⁇ ⁇ ) ] falls ⁇ ⁇ f d ⁇ T ⁇ ⁇ ⁇ ⁇ p ⁇ 0 ⁇ ⁇ ⁇ [ ⁇ ⁇ ⁇ ⁇ p ⁇ , ⁇ ⁇ ⁇ ⁇ p ⁇ + d max ] 0
  • the function ⁇ ( ⁇ ) in this example corresponds to the above function S(v), and ⁇ corresponds to the control error ⁇ right arrow over (R) ⁇ (t) of the controller.
  • ⁇ p and f d include an angle larger than 90° the controller should be deactivated.
  • an interpolating function ⁇ t ( ⁇ ) is selected, which interpolates in a user-defined region d max .
  • quaternions are actuated as nonsingular representation.
  • this shaping function can be interpreted as a shaping of ⁇ , which only scales the force controller of the combined force and impedance controller. Therefore, ⁇ can be newly defined as ⁇ ⁇ : ⁇ ( ⁇ ) ⁇ and the stability is warranted, again.
  • the multiplication of ⁇ ( ⁇ ) is done component-wise, herein.
  • FIGS. 1A-C show a conceptually simplified diagrams to illustrate a suggested hybrid controller having an impedance controller and a force controller
  • FIG. 2 shows a model system illustration for performing open-loop and closed-loop control of a robot manipulator, which interacts with the environment;
  • FIG. 3A shows a schematized illustrated impedance controlled robot manipulator having an end effector EFF and a predefined translational robustness region d max ;
  • FIG. 4 shows a graph for deformation of elastic material by applied pressure of the end effector in the translational case
  • FIG. 5A and FIG. 5B show schematized block diagrams of a suggested device
  • FIG. 6 shows a schematized flowchart of a suggested method.
  • FIGS. 1A-1C shows a conceptually simplified diagrams to illustrate a suggested hybrid controller having an impedance controller and a force controller. Dampers are not shown for reasons of clarity.
  • FIG. 1A shows a pure impedance controlled robot manipulator having an end effector EFF. The impedance control is indicated by the illustrated spring.
  • FIG. 1B shows a pure force controlled robot manipulator having an end effector EFF, which presses with a predefined force F d against an object surface (shaded line).
  • FIG. 1C shows a combination of the force controller and the impedance controller according to the invention from FIG. 1A and FIG. 1B .
  • FIG. 2 shows a model system illustration for performing open-loop and closed-loop control of a robot manipulator according to the invention having an end effector, which interacts with an environment/object/workpiece.
  • the connections and feedback connections of the blocks, which are interconnected with one another, are shown with the corresponding in/outputs and exchanged quantities.
  • FIG. 3A shows a schematized illustrated impedance controlled robot manipulator having an end effector EFF and a predefined translational robustness region d max .
  • FIG. 4 shows a graph for deformation of elastic material by applied pressure of the end effector EFF in the translational case, which illustrates in the above description in more detail (cf. Part “D Handling of flexible and strongly complaint objects”).
  • the device 100 includes a first unit 101 and a controller 102 , while the robot manipulator 103 includes actuators 104 a - 104 c and the end effector EFF.
  • the controller 102 is connected with the first unit 101 and the actuators ACT m 104 a - 104 c .
  • the controller 102 includes a first controller R 1 102 a , which is a force controller, and a second controller R 2 102 b connected therewith, which is an impedance controller.
  • V Q *(t)] [v 1a , v 1e ], [v 2a , V 2e ], . . . , [V Qa , v Qe ] is a component-wise definition area of a vector quantity v*(t) of a dimension Q.
  • the method includes the following steps.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
US15/548,377 2015-02-24 2016-02-02 Device and method for performing open-loop and closed-loop control of a robot manipulator Active 2036-05-19 US10675756B2 (en)

Applications Claiming Priority (4)

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DE102015102642.2 2015-02-24
DE102015102642.2A DE102015102642B4 (de) 2015-02-24 2015-02-24 Vorrichtung und Verfahren zur Steuerung und Regelung eines Roboter-Manipulators
DE102015102642 2015-02-24
PCT/EP2016/052198 WO2016134931A1 (de) 2015-02-24 2016-02-02 Vorrichtung und verfahren zur steuerung und regelung eines roboter-manipulators

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EP (1) EP3261808B1 (de)
JP (1) JP6501900B2 (de)
KR (1) KR102003445B1 (de)
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DE (1) DE102015102642B4 (de)
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